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<div class="title">obstacle_map.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef __OBSTACLE_MAP_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define __OBSTACLE_MAP_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>state_lattice_planner</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; <span class="comment">//</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; <span class="comment">//            x</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; <span class="comment">//            ^</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; <span class="comment">//            | height</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; <span class="comment">//            |</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; <span class="comment">//    y &lt;- - -</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; <span class="comment">//       width</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; <span class="comment">//</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ELEMENT_TYPE&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classstate__lattice__planner_1_1_obstacle_map.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classstate__lattice__planner_1_1_obstacle_map.html">ObstacleMap</a></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="classstate__lattice__planner_1_1_obstacle_map.html">ObstacleMap</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> get_index_from_xy(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">void</span> set_shape(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">double</span> get_resolution(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    std::vector&lt;ELEMENT_TYPE&gt; data;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width;<span class="comment">// cells</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height;<span class="comment">// cells</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">double</span> resolution;<span class="comment">// m/cell</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">double</span> origin_x;<span class="comment">// m</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">double</span> origin_y;<span class="comment">// m</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;};</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ELEMENT_TYPE&gt;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<a class="code" href="classstate__lattice__planner_1_1_obstacle_map.html">ObstacleMap&lt;ELEMENT_TYPE&gt;::ObstacleMap</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;{</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    width = 0;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    height = 0;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    resolution = 0.0;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    origin_x = 0.0;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    origin_y = 0.0;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    data.clear();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;}</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ELEMENT_TYPE&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ObstacleMap&lt;ELEMENT_TYPE&gt;::get_index_from_xy(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index = 0;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    index = std::round((x - origin_x) / resolution) + std::round((y - origin_y) / resolution) * height;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span> index;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ELEMENT_TYPE&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> ObstacleMap&lt;ELEMENT_TYPE&gt;::set_shape(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width_, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height_, <span class="keywordtype">double</span> resolution_)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">if</span>(width_ &gt; 0 &amp;&amp; height_ &gt; 0){</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        width = width_;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        height = height_;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    }<span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;\033[31mvalue error: width and height must be &gt; 0\033[0m&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span>(resolution_ &gt; 0.0){</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        resolution = resolution_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }<span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;\033[31mvalue error: resolution must be &gt; 0.0 m\033[0m&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// origin is in the lower right-hand corner of the map.</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    origin_x = -<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(height) * 0.5 * resolution;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    origin_y = -<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(width) * 0.5 * resolution;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ELEMENT_TYPE&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keywordtype">double</span> ObstacleMap&lt;ELEMENT_TYPE&gt;::get_resolution(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> resolution;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor">#endif// __OBSTACLE_MAP_H</span></div>
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<div class="ttc" id="aclassstate__lattice__planner_1_1_obstacle_map_html"><div class="ttname"><a href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a></div><div class="ttdef"><b>Definition:</b> obstacle_map.h:20</div></div>
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